CN107511815B - Parallel transplanting robot - Google Patents
Parallel transplanting robot Download PDFInfo
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- CN107511815B CN107511815B CN201710704579.3A CN201710704579A CN107511815B CN 107511815 B CN107511815 B CN 107511815B CN 201710704579 A CN201710704579 A CN 201710704579A CN 107511815 B CN107511815 B CN 107511815B
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- branched chain
- servo motor
- driven
- arm
- driven arm
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
- A01C11/00—Transplanting machines
Abstract
The invention provides a parallel transplanting robot, which comprises a rack, a branched chain mechanism, a static platform rack and a PLC (programmable logic controller); the branched chain mechanism comprises a branched chain A, a branched chain B, a branched chain C and a movable platform; the branched chains A, B and C all comprise driving arms and driven arms, one ends of the driving arms are respectively connected with a single servo motor, the other ends of the driving arms are respectively connected with the driven arms, and the driven arms adopt truss structures; the branched chain B and the branched chain C have the same structure; the PLC is electrically connected with each servo motor respectively to control the rotation of the servo motors; the upper supporting chain structure meeting the requirement of three translation is simpler, redundant branched chains do not exist, and the assembly difficulty is favorably reduced; the driven arm adopts a truss structure, so that the movement stability is improved, and meanwhile, a joint bearing is adopted at the joint of the tail end of the branched chain and the movable platform, so that the multi-angle transplanting requirement can be met; the transplanting robot not only can enable transplanting movement to have two-direction decoupling, but also can improve mechanical properties.
Description
Technical Field
The invention belongs to the field of automatic transplanting research in facility agriculture, and particularly relates to a parallel transplanting robot.
Background
China is the world with the largest vegetable planting, and more than sixty percent of vegetables are mainly subjected to plug seedling. The plug seedling can promote the rapid rooting of the seedlings, the seedlings are neat, the seedling reviving is rapid, the plant diseases and insect pests are less, and the like. However, as plants grow, the requirements for nutrients, space, etc. required by the plants increase and the bad seedlings are removed at any time, so that the seedlings need to be transplanted from a high-density tray to a low-density tray. At present, the tray seedling transplanting work in China mainly takes manpower as a main part, and the remarkable defects are that the transplanting efficiency is low, the transplanting quality is difficult to guarantee, more labor force is occupied, and the production cost is overhigh.
Most of the production links and operation procedures of the existing semi-automatic plug seedling transplanting machine are manually completed, the transplanting speed is low, the production cost is high, and the requirement of industrial large-scale production of vegetables and flowers is difficult to meet; still some transplanting robot mechanisms have rigidity, precision subalternation problem, lead to transplanting the quality not high, consequently need a novel transplanting robot to solve this problem.
Disclosure of Invention
The invention aims to provide a parallel transplanting robot aiming at the problems, the parallel transplanting robot can meet various factory high-speed transplanting requirements, the stability of the parallel transplanting robot is greatly improved, transplanting and seedling supplement among common plug seedlings are realized, labor force is saved, and the production quality is improved.
The present invention achieves the above-described object by the following technical means. A parallel transplanting robot comprises a rack, a branched chain mechanism, a static platform rack and a PLC;
the branched chain mechanism comprises a branched chain A, a branched chain B, a branched chain C and a movable platform; the branched chains A, B and C all comprise driving arms and driven arms, one ends of the driving arms are respectively connected with a single servo motor, the other ends of the driving arms are respectively connected with the driven arms, and the driven arms adopt truss structures; the branched chain B and the branched chain C have the same structure; a photoelectric sensor is respectively installed below each servo motor, the photoelectric sensors are fixed on the static platform rack and used for sensing the rotation angle of each branched chain and transmitting angle signals to the PLC, and the PLC is respectively electrically connected with each servo motor and used for controlling the rotation of the servo motors;
the main shaft of the branched chain servo motor A is parallel to the main shaft of the branched chain servo motor B and is vertical to the main shaft of the branched chain servo motor C; the servo motor of the branch chain A, the servo motor of the branch chain B and the servo motor of the branch chain C are respectively and fixedly arranged on the static platform frame on the same plane, the servo motor of the branch chain A and the servo motor of the branch chain C are respectively positioned at two ends of the static platform frame, and the servo motor of the branch chain B is positioned in the middle of the static platform frame; the whole branched chain mechanism is fixedly arranged at the top of the frame through the static platform frame, and the tail end driven arms of the branched chain A and the branched chain C are respectively connected with the two ends of the movable platform; the tail end driven arm of the branched chain B is connected with the middle of the movable platform; the tail end of the movable platform is provided with a pneumatic seedling taking claw.
In the scheme, the branched chain A comprises a branched chain A rigid coupling, a branched chain A driving arm, a threaded pipe, an L-shaped joint ball bearing I, two branched chain A driven arms and an L-shaped joint ball bearing II;
one end of the A branched chain driving arm is fixedly connected with a main shaft of the A branched chain servo motor through an A branched chain rigid coupler, and the A branched chain driving arm is driven by the A branched chain servo motor to do rotary motion; the other end of the A branched chain driving arm is connected with one end of an L-shaped joint ball bearing I;
the other end of the L-shaped joint ball bearing I is connected with the upper end of the branched chain driven arm A respectively;
the lower end of the branched chain A driven arm is connected with one end of an L-shaped joint ball bearing II;
the other end of the L-shaped joint ball bearing II is connected with the movable platform; the two driven arms are mounted in the same manner.
Further, the other end of the A branch chain driving arm is welded with a threaded pipe; and two ends of the threaded pipe are respectively in threaded connection with one end of each L-shaped joint ball bearing I.
In the scheme, the branched chain B comprises a rigid coupling, a branched chain B driving arm, a branched chain B driven arm I, an intermediate connecting rod I, a bearing mounting joint, two branched chain B driven arms II, a connecting joint, an intermediate connecting rod II, two branched chain B driven arms III and a rod end joint ball bearing;
the upper end of the B branched chain driving arm is fixedly connected with a servo motor spindle through a rigid coupler and rotates under the driving of a motor; the upper end of the B branched chain driven arm I is connected to a B branched chain motor fixed support, and a revolute pair is formed through a built-in bearing; the lower ends of the B branched chain driving arm and the B branched chain driven arm I are respectively connected with the two tail ends of the middle connecting rod I;
the bearing mounting joint is internally provided with a cylindrical roller bearing which is mounted on the middle connecting rod I to form a revolute pair; one end of the branched chain driven arm B is fixedly connected with the lower end of the bearing mounting joint through a bolt; the other end of the B branched chain driven arm II is fixedly connected with one end of the connecting joint through a bolt, the other ends of the two connecting joints are respectively and fixedly connected with the two ends of the middle connecting rod II, and the B branched chain driven arm II forms a truss structure;
one end of the B branched chain driven arm III is fixedly connected to the bearing mounting joint through a bolt, the rod end joint ball bearing rod part is fixedly connected to the other end of the B branched chain driven arm III, and the bearing part is connected to the movable platform.
Further, bolt roller type bearings are respectively arranged in the lower ends of the B branched chain driving arm and the B branched chain driven arm I, and bolt ends of the bolt roller type bearings respectively penetrate through round holes formed in two tail ends of the middle connecting rod I and are fixedly connected through nuts.
In the scheme, the two bearing mounting joints are internally provided with the cylindrical roller bearings which are fixedly mounted on the middle connecting rod II to form a revolute pair.
In the scheme, the branched chain B and the branched chain C have the same structure, and the upper end of a driving arm of the branched chain C is fixedly connected with a main shaft of a servo motor of the branched chain C through a rigid coupling and rotates under the driving of the motor; the upper end of a driven arm I of the C branched chain is connected to a fixed support of the C branched chain motor.
In the scheme, the driven arms at the extreme ends of the branched chain A, the branched chain B and the branched chain C are respectively connected with the movable platform through joint bearings to form a ball pair, so that the movable platform can deflect at a certain angle.
Compared with the prior art, the invention has the advantages that:
1. the upper supporting chain structure meeting the requirement of three translation is simpler, redundant branched chains do not exist, the assembly difficulty is favorably reduced, and the rigidity is higher in the whole operation process.
2. According to the invention, the cylindrical roller bearing is adopted at the middle switching rod, so that larger radial supporting force is provided, the driven arm adopts a truss structure, the movement stability is improved, and meanwhile, the joint bearing is adopted at the joint of the tail end of the branched chain and the movable platform, so that the multi-angle transplanting requirement can be met.
3. The invention is beneficial to the design of a control system due to simple structure on the premise of ensuring the rigidity. The transplanting robot not only can enable transplanting movement to have two-direction decoupling, but also can improve mechanical properties.
Drawings
FIG. 1 is a view showing an overall configuration of a parallel transfer robot according to the present invention;
FIG. 2 is a view showing an installation structure of the branch chain mechanism and the movable platform;
FIG. 3 is a schematic diagram of the structure of branch A4;
FIG. 4 is a schematic diagram of the structure of the B branch 5.
In the figure: 1.a frame; 2.a branch chain mechanism; 3.a stationary platform frame; a branched chain; b branched chain; c branched chain; 7.a movable platform; 8. a bearing; 9. a seedling claw is pneumatically taken; 10. an electric box; 401.A branched chain servo motor; a branched chain fixed support; a branched rigid coupling; a branched drive arm; 405. a threaded pipe; an L-shaped knuckle bearing I; 407.a branched follower arm; 408, an L-shaped joint type bearing II; 501, B branched chain servo motor; 502.B branched chain fixed support; b branched chain rigid coupling; b branched drive arm; 505.B branched chain follower arm I; 506. a middle adapter rod I; 507. a bolt roller type bearing; 508. a joint is installed on the bearing; 509.B branched follower arm II; 5010. a connecting joint; 5011. a middle connecting rod II; 5012.B branch driven arm III; 5013. a rod end joint ball bearing; 601.C branched chain servo motor; c branch chain fixed support; 11. a photoelectric sensor.
Detailed Description
The invention will be further described with reference to the following figures and specific examples, but the scope of the invention is not limited thereto.
Fig. 1 is a schematic view illustrating the overall installation of the parallel transplanting robot of the present invention. The parallel transplanting robot comprises a rack 1, a branched chain mechanism 2, a static platform rack 3 and a PLC. The rack 1 is a fixed mounting base of the whole transplanting system. The static platform frame 3 is fixedly arranged on the frame 1 through a threaded rod. The electric box 10 is arranged below the platform and used for intensively placing electric elements, switches, servo drivers and the like used for controlling the transplanting robot system, is connected with control elements such as a servo motor driver and a photoelectric sensor 11 through a PLC, and controls the transplanting machine according to a transplanting program actually input by a user.
Fig. 2 is a schematic view showing the installation of the branch chain mechanism and the movable platform. The branched chain mechanism 2 comprises an A branched chain 4, a B branched chain 5, a C branched chain 6 and a movable platform 7. The main shaft of the branched chain servo motor 401A is parallel to the main shaft of the branched chain servo motor 501B and is perpendicular to the main shaft of the branched chain servo motor 601C; the A branched chain servo motor 401, the B branched chain servo motor 501 and the C branched chain servo motor 601 are fixedly arranged on the static platform frame on the same plane respectively, and the PLC is electrically connected with each servo motor respectively to control the rotation of the servo motors; the B branched chain 5 and the C branched chain 6 are identical in structure, and the movable platform 7 is connected with the tail ends of the A branched chain 4, the B branched chain 5 and the C branched chain 6 through joint type bearings. The whole branch chain mechanism 2 is arranged on the static platform frame 3 and is fixedly arranged on the frame 1 by a lead screw. The pneumatic seedling taking claw 9 is fixedly arranged below the movable platform 7. Photoelectric sensors 11 are respectively installed below each servo motor, the photoelectric sensors 11 are fixed on the static platform frame 3 and used for sensing the rotating position of each branched chain and transmitting position signals to the PLC, and the PLC is respectively electrically connected with each servo motor and controls the rotation of the servo motors.
FIG. 3 is a schematic diagram of the structure of the branch chain A4. The A branched chain 4 comprises an A branched chain rigid coupling 403, an A branched chain driving arm 404, a threaded pipe 405, an L-shaped joint ball bearing 406 and an A branched chain driven arm 407.
The a branched chain rigid coupling 403 is used for fixedly connecting one end of an a branched chain driving arm 404 with a spindle of the a branched chain servo motor 401, and the a branched chain driving arm 404 rotates under the driving of the servo motor 401; one end of the a-branch driving arm 404 is welded to the threaded pipe 405. L-shaped joint ball bearings I406 are respectively arranged at two ends of the threaded pipe 405, and one end of each L-shaped joint ball bearing is fixedly connected through threads. The other end of the L-shaped joint ball bearing I406 is fixedly connected with the upper end of the A branched chain driven arm 407 through a pin, and a spherical pair is formed at the position. The lower end of the branched chain A driven arm 407 is fixedly connected with an L-shaped joint ball bearing II 408 through a pin. The other end of the L-shaped joint ball bearing II 408 is connected with the movable platform 7 through threads. The two driven arms 407 of the branch chain A are mounted in the same manner.
FIG. 4 is a schematic diagram of the structures of the B branch 5 and the C branch 6. Since the B branch 5 has the same structure as the C branch 6, the B branch is taken as an example. The B branched chain 5 comprises a B branched chain fixed support 502, a B branched chain rigid coupling 503, a B branched chain driving arm 504, a B branched chain driven arm I505, an intermediate connecting rod I506, a bolt roller type bearing 507, a bearing installation joint 508, a B branched chain driven arm II509, a connecting joint 5010, an intermediate connecting rod II5011, a B branched chain driven arm III5012 and a rod end joint ball bearing 5013.
The upper end of the B branched chain driving arm 504 is fixedly connected with a main shaft of a servo motor 501 through a rigid coupling 503 and rotates under the driving of the motor; the upper end of the B branched chain driven arm I505 is connected to the B branched chain motor fixing support 502, and a rotating pair is formed through the built-in bearing 8; the lower ends of the driving arm 504 and the B branched chain driven arm I505 are internally provided with bolt roller type bearings 507, wherein bolt ends penetrate through round holes formed in the tail ends of the intermediate connecting rods I506 and are fixedly connected through nuts.
The bearing mounting joint 508 is internally provided with a cylindrical roller bearing and is mounted on the intermediate connecting rod I506 to form a revolute pair. One end of the B branched chain driven arm II509 is fixedly connected with the lower end of the bearing mounting joint 508 through a bolt. The other end of the B branched chain driven arm II509 is fixedly connected with the connecting joint 5010 through a bolt, the two connecting joints 5010 are fixedly connected with the middle connecting rod II5011, and the B branched chain driven arm II509 forms a truss structure.
The two bearing mounting joints 508 are internally provided with cylindrical roller bearings which are fixedly mounted on the middle connecting rod II5011 to form a revolute pair.
One end of the B branched chain driven arm III5012 is fixedly connected to the bearing mounting joint 508 through a bolt, the rod end joint ball bearing 5013 is fixedly connected to the other end of the B branched chain driven arm III5012, and the bearing part is connected to the movable platform 7, so that the movable platform 7 can deflect at a certain angle.
The upper end of a driving arm of the C branched chain (6) is fixedly connected with a servo motor spindle of the C branched chain (6) through a rigid coupler and is driven by a motor to rotate; the upper end of a driven arm I of the C branched chain (6) is connected to a fixed support (602) of the C branched chain motor.
Through early calculation, in order to achieve the required working space and simplify the calculation, the driving angle of the branched chain 4 is limited to +/-90 degrees, and the function of lifting the movable platform 7 up and down is achieved; the driving angles of the branched chains 5 and 6 are limited to +/-80 degrees, so that the movable platform 7 can move in an XY axis plane. Preferably, the sizes of the three branches in this embodiment are as follows: the length of a branched chain 4 driving arm 404 is 240mm, and the length of an A branched chain driven arm 407 is 732 mm; the length of a driving arm 505 of the branched chain 5 is 340mm, the length of a driven arm 509 is 356mm, and the length of a driven arm 5012 is 496 mm; the branched chain 6 has a driving arm 605 with a length of 260mm, a driven arm 609 with a length of 436mm and a driven arm 6012 with a length of 526 mm. The scope of the invention is not limited thereto.
The working process is as follows: three servo motors fixedly arranged on the static platform frame 3 drive the three main driving arms to do rotary motion through a coupler respectively, the distance between each hole in the hole tray is calculated and input, the position parameters of the movable platform are converted into the walking angles required by the three servo motors through kinematic inverse solution on the parallel mechanism, the required pulse number and pulse frequency are further obtained, and the action is finished through a PLC multi-section pulse output instruction. And controlling a function 3-4-5 degree polynomial to control and drive the driving arm and further drive the driven arm according to a specific motion rule, and finally enabling the moving platform to finish three-degree-of-freedom motion in space to realize the transplanting process.
The present invention is not limited to the above-described embodiments, and any obvious improvements, substitutions or modifications can be made by those skilled in the art without departing from the spirit of the present invention.
Claims (3)
1.A parallel transplanting robot is characterized by comprising a rack (1), a branched chain mechanism (2), a static platform rack (3) and a PLC;
the branched chain mechanism (2) comprises an A branched chain (4), a B branched chain (5), a C branched chain (6) and a movable platform (7); the three branched chains of the branched chain A (4), the branched chain B (5) and the branched chain C (6) respectively comprise a driving arm and a driven arm, one end of the driving arm is respectively connected with an independent servo motor, the other end of the driving arm is respectively connected with the driven arm, and the driven arm adopts a truss structure; the B branched chain (5) and the C branched chain (6) have the same structure;
the A branched chain (4) comprises an A branched chain rigid coupling (403), an A branched chain driving arm (404), a threaded pipe (405), an L-shaped joint ball bearing I (406), two A branched chain driven arms (407) and an L-shaped joint ball bearing II (408); one end of the A branched chain driving arm (404) is fixedly connected with a main shaft of the A branched chain servo motor (401) through an A branched chain rigid coupling (403), and the A branched chain driving arm (404) rotates under the driving of the A branched chain servo motor (401); the other end of the A branched chain driving arm (404) is connected with one end of an L-shaped joint ball bearing I (406); the other end of the L-shaped joint ball bearing I (406) is connected with the upper end of the branched chain driven arm A (407) respectively; the lower end of the branched chain A driven arm (407) is connected with one end of an L-shaped joint ball bearing II (408); the other end of the L-shaped joint ball bearing II (408) is connected with the movable platform (7);
the B branched chain (5) comprises a rigid coupling (503), a B branched chain driving arm (504), a B branched chain driven arm I (505), an intermediate connecting rod I (506), a bearing mounting joint (508), two B branched chain driven arms II (509), a connecting joint (5010), an intermediate connecting rod II (5011), two B branched chain driven arms III (5012) and a rod end joint ball bearing (5013); the upper end of the B branched chain driving arm (504) is fixedly connected with a main shaft of a servo motor (501) through a rigid coupling (503) and is driven by the motor to rotate; the upper end of the B branched chain driven arm I (505) is connected to a B branched chain motor fixed support (502) and forms a revolute pair through a built-in bearing (8); the lower ends of the B branched chain driving arm (504) and the B branched chain driven arm I (505) are respectively connected with the two tail ends of the middle connecting rod I (506), the lower ends of the B branched chain driving arm (504) and the B branched chain driven arm I (505) are respectively internally provided with a bolt roller type bearing (507), and the bolt ends of the bolt roller type bearings (507) respectively penetrate through round holes formed in the two tail ends of the middle connecting rod I (506) and are fixedly connected through nuts; the bearing mounting joint (508) is internally provided with a cylindrical roller bearing which is mounted on the middle connecting rod I (506) to form a revolute pair; one end of the B branched chain driven arm II (509) is fixedly connected with the lower end of the bearing mounting joint (508) through a bolt; the other end of the B branched chain driven arm II (509) is fixedly connected with one end of a connecting joint (5010) through a bolt, the other ends of the two connecting joints (5010) are fixedly connected to the two ends of a middle connecting rod II (5011) respectively, and the B branched chain driven arm II (509) forms a truss structure; the two bearing mounting joints (508) are internally provided with cylindrical roller bearings which are fixedly mounted on the middle connecting rod II (5011) to form a revolute pair; one end of the B branched chain driven arm III (5012) is fixedly connected to the bearing mounting joint (508) through a bolt, the rod end joint ball bearing (5013) is fixedly connected to the other end of the B branched chain driven arm III (5012), and the bearing part is connected to the movable platform (7);
a photoelectric sensor (11) is respectively installed below each servo motor, the photoelectric sensor (11) is fixed on the static platform rack (3) and used for sensing the rotating position of each branched chain and transmitting a position signal to the PLC, and the PLC is respectively electrically connected with each servo motor to control the rotation of the servo motors;
the main shaft of the servo motor of the branched chain A (4) is parallel to the main shaft of the servo motor of the branched chain B (5) and is vertical to the main shaft of the servo motor of the branched chain C (6); a servo motor of the branched chain A (4), a servo motor of the branched chain B (5) and a servo motor of the branched chain C (6) are respectively and fixedly arranged on the static platform rack (3) on the same plane, the servo motor of the branched chain A (4) and the servo motor of the branched chain C (6) are respectively positioned at two ends of the static platform rack (3), and the servo motor of the branched chain B (5) is positioned in the middle of the static platform rack (3); the whole branched chain mechanism (2) is fixedly arranged at the top of the frame (1) through a static platform frame (3), and the tail end driven arms of the branched chain A (4) and the branched chain C (6) are respectively connected with the two ends of a movable platform (7); the tail end driven arm of the branched chain B (5) is connected with the middle of the movable platform (7); the driven arm at the tail end of the branched chain A (4), the branched chain B (5) and the branched chain C (6) is connected with the movable platform (7) through joint bearings to form a ball pair, so that the movable platform (7) can deflect at a certain angle; the tail end of the movable platform (7) is provided with a pneumatic seedling taking claw (9).
2. The parallel transplanting robot of claim 1, wherein the other end of said a-branch driving arm (404) is welded to a threaded pipe (405); two ends of the threaded pipe (405) are respectively in threaded connection with one end of each L-shaped joint ball bearing I (406).
3. The parallel transplanting robot as claimed in claim 1, wherein the branched chain B (5) and the branched chain C (6) have the same structure, and the upper end of the driving arm of the branched chain C (6) is fixedly connected with the main shaft of the servo motor of the branched chain C (6) through a rigid coupling and is driven by the motor to perform rotary motion; the upper end of a driven arm I of the C branched chain (6) is connected to a fixed support (602) of the C branched chain motor.
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CN107511815B true CN107511815B (en) | 2020-11-03 |
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CN108184466B (en) * | 2018-01-16 | 2020-06-16 | 浙江理工大学 | Transplanting and whole-row parallel type plug seedling grafting all-in-one machine |
CN111226547A (en) * | 2020-03-06 | 2020-06-05 | 天津农学院 | Solar planting robot |
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CN106514616A (en) * | 2016-10-11 | 2017-03-22 | 江苏大学 | Multi-purpose multiple-series transplanting robot |
CN106584426A (en) * | 2016-10-07 | 2017-04-26 | 南京理工大学 | High-speed parallel robot mechanism capable of realizing SCARA motion |
CN106625606A (en) * | 2017-01-16 | 2017-05-10 | 安徽工业大学 | Carrying robot at seven degrees of freedom with symmetrically arranged driven arms |
CN106945019A (en) * | 2017-05-11 | 2017-07-14 | 重庆邮电大学 | It is a kind of that there is the five-freedom parallel structure for being hinged moving platform |
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CN103817685A (en) * | 2014-02-25 | 2014-05-28 | 河南科技大学 | Three-translation parallel mechanism and branched chain thereof |
CN104354154A (en) * | 2014-09-19 | 2015-02-18 | 深圳职业技术学院 | Tri-translation parallel robot mechanism |
CN105522570A (en) * | 2016-02-25 | 2016-04-27 | 北京交通大学 | Rapid grabbing robot capable of performing whole circle movement |
CN106313004A (en) * | 2016-10-07 | 2017-01-11 | 南京理工大学 | Four-freedom-degree high-speed parallel robot mechanism |
CN106584426A (en) * | 2016-10-07 | 2017-04-26 | 南京理工大学 | High-speed parallel robot mechanism capable of realizing SCARA motion |
CN106514616A (en) * | 2016-10-11 | 2017-03-22 | 江苏大学 | Multi-purpose multiple-series transplanting robot |
CN106625606A (en) * | 2017-01-16 | 2017-05-10 | 安徽工业大学 | Carrying robot at seven degrees of freedom with symmetrically arranged driven arms |
CN106945019A (en) * | 2017-05-11 | 2017-07-14 | 重庆邮电大学 | It is a kind of that there is the five-freedom parallel structure for being hinged moving platform |
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